Eigen::AutoDiffJacobian< Functor > Class Template Reference

Inheritance diagram for Eigen::AutoDiffJacobian< Functor >:

Public Types
enum	{   InputsAtCompileTime ,   ValuesAtCompileTime }
typedef Matrix< ActiveScalar, InputsAtCompileTime, 1 >	ActiveInput
typedef AutoDiffScalar< DerivativeType >	ActiveScalar
typedef Matrix< ActiveScalar, ValuesAtCompileTime, 1 >	ActiveValue
typedef Matrix< Scalar, InputsAtCompileTime, 1 >	DerivativeType
typedef JacobianType::Index	Index
typedef Functor::InputType	InputType
typedef Matrix< Scalar, ValuesAtCompileTime, InputsAtCompileTime >	JacobianType
typedef ValueType::Scalar	Scalar
typedef Functor::ValueType	ValueType

Public Member Functions
	AutoDiffJacobian ()
	AutoDiffJacobian (const Functor &f)
template<typename... T>
	AutoDiffJacobian (const T &...Values)
void	operator() (const InputType &x, ValueType *v) const
template<typename... ParamsType>
void	operator() (const InputType &x, ValueType *v, JacobianType *_jac, const ParamsType &... Params) const

Detailed Description

template<typename Functor>
class Eigen::AutoDiffJacobian< Functor >

Definition at line 18 of file AutoDiffJacobian.h.

Member Typedef Documentation

ActiveInput

template<typename Functor >

typedef Matrix<ActiveScalar, InputsAtCompileTime, 1> Eigen::AutoDiffJacobian< Functor >::ActiveInput

Definition at line 43 of file AutoDiffJacobian.h.

ActiveScalar

template<typename Functor >

typedef AutoDiffScalar<DerivativeType> Eigen::AutoDiffJacobian< Functor >::ActiveScalar

Definition at line 41 of file AutoDiffJacobian.h.

ActiveValue

template<typename Functor >

typedef Matrix<ActiveScalar, ValuesAtCompileTime, 1> Eigen::AutoDiffJacobian< Functor >::ActiveValue

Definition at line 44 of file AutoDiffJacobian.h.

DerivativeType

template<typename Functor >

typedef Matrix<Scalar, InputsAtCompileTime, 1> Eigen::AutoDiffJacobian< Functor >::DerivativeType

Definition at line 40 of file AutoDiffJacobian.h.

Index

template<typename Functor >

typedef JacobianType::Index Eigen::AutoDiffJacobian< Functor >::Index

Definition at line 38 of file AutoDiffJacobian.h.

InputType

template<typename Functor >

typedef Functor::InputType Eigen::AutoDiffJacobian< Functor >::InputType

Definition at line 28 of file AutoDiffJacobian.h.

JacobianType

template<typename Functor >

typedef Matrix<Scalar, ValuesAtCompileTime, InputsAtCompileTime> Eigen::AutoDiffJacobian< Functor >::JacobianType

Definition at line 37 of file AutoDiffJacobian.h.

Scalar

template<typename Functor >

typedef ValueType::Scalar Eigen::AutoDiffJacobian< Functor >::Scalar

Definition at line 30 of file AutoDiffJacobian.h.

ValueType

template<typename Functor >

typedef Functor::ValueType Eigen::AutoDiffJacobian< Functor >::ValueType

Definition at line 29 of file AutoDiffJacobian.h.

Member Enumeration Documentation

anonymous enum

template<typename Functor >

anonymous enum

Enumerator
InputsAtCompileTime
ValuesAtCompileTime

Definition at line 32 of file AutoDiffJacobian.h.

       {
    InputsAtCompileTime = InputType::RowsAtCompileTime,
    ValuesAtCompileTime = ValueType::RowsAtCompileTime
  };

Constructor & Destructor Documentation

AutoDiffJacobian() [1/3]

template<typename Functor >

Eigen::AutoDiffJacobian< Functor >::AutoDiffJacobian ( )

inline

Definition at line 21 of file AutoDiffJacobian.h.

: Functor() {}

AutoDiffJacobian() [2/3]

template<typename Functor >

Eigen::AutoDiffJacobian< Functor >::AutoDiffJacobian ( const Functor &  f )

inline

Definition at line 22 of file AutoDiffJacobian.h.

: Functor(f) {}

AutoDiffJacobian() [3/3]

template<typename Functor >

template<typename... T>

Eigen::AutoDiffJacobian< Functor >::AutoDiffJacobian ( const T &...  Values )

inline

Definition at line 26 of file AutoDiffJacobian.h.

: Functor(Values...) {}

Member Function Documentation

operator()() [1/2]

template<typename Functor >

void Eigen::AutoDiffJacobian< Functor >::operator() ( const InputType &  x, ValueType *  v  ) const

inline

Definition at line 49 of file AutoDiffJacobian.h.

  {
      this->operator()(x, v, 0);
  }

operator()() [2/2]

template<typename Functor >

template<typename... ParamsType>

void Eigen::AutoDiffJacobian< Functor >::operator() ( const InputType &  x, ValueType *  v, JacobianType *  _jac, const ParamsType &...  Params  ) const

inline

Definition at line 54 of file AutoDiffJacobian.h.

  {
    eigen_assert(v!=0);
 
    if (!_jac)
    {
      Functor::operator()(x, v, Params...);
      return;
    }
 
    JacobianType& jac = *_jac;
 
    ActiveInput ax = x.template cast<ActiveScalar>();
    ActiveValue av(jac.rows());
 
    if(InputsAtCompileTime==Dynamic)
      for (Index j=0; j<jac.rows(); j++)
        av[j].derivatives().resize(x.rows());
 
    for (Index i=0; i<jac.cols(); i++)
      ax[i].derivatives() = DerivativeType::Unit(x.rows(),i);
 
    Functor::operator()(ax, &av, Params...);
 
    for (Index i=0; i<jac.rows(); i++)
    {
      (*v)[i] = av[i].value();
      jac.row(i) = av[i].derivatives();
    }
  }

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The documentation for this class was generated from the following file:

• AutoDiffJacobian.h